v0

.clang-format

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.dockerignore

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+.idea/
+logs/
+wandb/
+scripts/logs/
+scripts/wandb/
+scripts/paper_n1/
+scripts/paper_n2/
+webots/
+scripts/model_checkpoints/
+.git/objects
+*.npy

.gitignore

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+# file types
+*.pyc
+# directories
+logs/
+wandb/
+/scripts/paper_n1/
+/scripts/paper_n2/
+.idea_pycharm/
+.idea_clion/
+.idea/
+# files
+Tims_pr2_arm_base_control.cpp
+/scripts/model_checkpoints/graspHack

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.12)
+project(modulation_rl)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  cmake_modules
+  roscpp
+  tf
+  tf_conversions
+  eigen_conversions
+  moveit_core
+  cmake_modules
+  pybind11_catkin
+  costmap_2d
+  bio_ik
+  interactive_markers
+  moveit_core
+  tmc_control_msgs
+)
+#find_package(OpenCV REQUIRED )
+find_package(Eigen REQUIRED)
+find_package(cmake_modules REQUIRED)
+#pkg_check_modules(LIBGP libgp)
+#find_package(yaml-cpp REQUIRED)
+include_directories(
+  include
+  ${Eigen_INCLUDE_DIRS}
+#  ${OpenCV3_INCLUDE_DIRS}
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES modulation_rl # gripper_planner
+  CATKIN_DEPENDS roscpp rospy std_msgs pybind11_catkin interactive_markers
+  # DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+ include
+  ${catkin_INCLUDE_DIRS}
+#  ${OpenCV3_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+
+#add_library(ellipse src/ellipse.cpp)
+#target_link_libraries(ellipse ${catkin_LIBRARIES})
+
+#add_library(modulation_ellipses src/modulation_ellipses.cpp)
+#target_link_libraries(modulation_ellipses ellipse ${LIBGP_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_library(myutils src/myutils.cpp)
+target_link_libraries(myutils ${catkin_LIBRARIES})
+
+add_library(mygeneral
+        src/gaussian_mixture_model.cpp
+        src/mycostmap.cpp
+        src/my_static_layer.cpp)
+target_link_libraries(mygeneral myutils ${catkin_LIBRARIES})
+
+add_library(robots
+        src/worlds.cpp
+        src/validity_fun.cpp
+        src/robot_env.cpp
+        src/robot_pr2.cpp
+        src/robot_tiago.cpp
+        src/robot_hsr.cpp)
+target_link_libraries(robots myutils ${catkin_LIBRARIES})
+
+# pybind
+pybind_add_module(pybindings MODULE src/pybindings.cpp)
+target_link_libraries(pybindings PRIVATE myutils mygeneral ${catkin_LIBRARIES})
+
+pybind_add_module(pybindings_robots MODULE src/pybindings_robots.cpp)
+target_link_libraries(pybindings_robots PRIVATE myutils robots ${catkin_LIBRARIES})
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/modulation_rl_node.cpp)
+
+add_library(my_interactive_marker src/my_interactive_marker.cpp)
+
+add_executable(interactive_marker_node src/interactive_marker_node.cpp)
+add_dependencies(interactive_marker_node ${catkin_EXPORTED_TARGETS})
+target_link_libraries(interactive_marker_node my_interactive_marker ${catkin_LIBRARIES})
+target_compile_options(interactive_marker_node PUBLIC ${FLAGS})
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+	 # ${catkin_LIBRARIES}
+   # )
+
+#############
+## Install ##
+#############
+install(
+        TARGETS
+        interactive_marker_node
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_modulation_rl.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)